refactor(config): resolve config type from annotation by leshy · Pull Request #1751 · dimensionalOS/dimos

leshy · 2026-04-05T07:32:49Z

Summary

Replace Generic-based config resolution with simple type annotation lookup
Classes declare config: MyConfig instead of Parent[MyConfig]
Configurable.__init__ uses get_type_hints to find the config type
Remove default_config from all classes
Simplify RPCClient and PubSubRPCMixin to use defaults directly - this needs a total undo later

dimos/core/docker_module.py

Copilot

Pull request overview

This PR refactors how Configurable classes determine their config type across DimOS, shifting from Generic/default_config patterns to resolving the config model via the config: ... type annotation. It updates many modules/services accordingly and introduces a new memory2 module helper.

Changes:

Replace Generic-based config resolution (default_config / Parent[MyConfig]) with annotation-based resolution using get_type_hints(...)[“config”].
Update a large set of modules/services to remove default_config and declare config: <ConfigModel> directly.
Simplify RPC client/timeout initialization defaults and add a new memory2 StreamModule/Recorder module file.

Reviewed changes

Copilot reviewed 90 out of 90 changed files in this pull request and generated 14 comments.

Show a summary per file

File	Description
dimos/web/websocket_vis/websocket_vis_module.py	Remove `Module[Config]` inheritance; add `config:` annotation.
dimos/visualization/rerun/bridge.py	Remove `Module[Config]` inheritance; add `config:` annotation.
dimos/utils/cli/lcmspy/lcmspy.py	Remove generic service base; add `config:` annotations.
dimos/teleop/quest/quest_teleop_module.py	Drop `Module[_Config]`; switch to `config:` annotation.
dimos/teleop/quest/quest_extensions.py	Drop generic base usage; add `config:` annotations.
dimos/teleop/phone/phone_teleop_module.py	Remove `Module[Config]`; add `config:` annotation.
dimos/teleop/keyboard/keyboard_teleop_module.py	Remove `Module[Config]`; add `config:` annotation.
dimos/simulation/unity/module.py	Remove `Module[Config]`; add `config:` annotation.
dimos/robot/unitree/type/map.py	Remove `Module[Config]`; add `config:` annotation.
dimos/robot/unitree/go2/fleet_connection.py	Remove `default_config`; (intended) align with annotation-based config.
dimos/robot/unitree/go2/connection.py	Remove generic `Module[_Config]`; introduce annotation-based config.
dimos/robot/unitree/g1/sim.py	Remove `default_config`; (intended) align with annotation-based config.
dimos/robot/unitree/g1/connection.py	Remove generic `Module[_Config]`; introduce `config:` annotation.
dimos/robot/unitree/b1/connection.py	Remove `Module[Config]`; add `config:` annotation.
dimos/robot/foxglove_bridge.py	Remove `default_config`; add `config:` annotation.
dimos/robot/drone/connection_module.py	Remove `Module[Config]`; add `config:` annotation.
dimos/protocol/tf/tflcmcpp.py	Remove generic bases; add `config:` annotation.
dimos/protocol/tf/tf.py	Remove generic TF spec/config plumbing; add concrete `config:` annotations.
dimos/protocol/service/test_spec.py	Update tests to validate new config-type resolution behavior.
dimos/protocol/service/spec.py	Implement config resolution via `get_type_hints(type(self))[“config”]`.
dimos/protocol/service/lcmservice.py	Remove generic config TypeVar usage; add `config:` annotation.
dimos/protocol/service/ddsservice.py	Remove generic base usage; add `config:` annotation.
dimos/protocol/rpc/pubsubrpc.py	Provide default timeout args via constants; simplify call sites.
dimos/protocol/pubsub/impl/redispubsub.py	Remove generic `Service[Config]`; add `config:` annotation.
dimos/protocol/pubsub/bridge.py	Remove generic `Service[...]`; add parameterized `config:` annotation.
dimos/perception/test_spatial_memory_module.py	Remove `Module[Config]`; add `config:` annotation.
dimos/perception/spatial_perception.py	Remove `Module[Config]`; add `config:` annotation.
dimos/perception/object_tracker.py	Remove `default_config`; add `config:` annotation.
dimos/perception/object_tracker_2d.py	Remove `default_config`; add `config:` annotation.
dimos/perception/experimental/temporal_memory/temporal_memory.py	Remove `Module[Config]`; add `config:` annotation.
dimos/perception/detection/reid/module.py	Remove `default_config`; (intended) align with annotation-based config.
dimos/perception/detection/module2D.py	Remove `Module[Config]`; add `config:` annotation.
dimos/navigation/rosnav.py	Remove `Module[Config]`; add `config:` annotation.
dimos/navigation/frontier_exploration/wavefront_frontier_goal_selector.py	Remove `Module[Config]`; add `config:` annotation.
dimos/navigation/bbox_navigation.py	Remove `Module[Config]`; add `config:` annotation.
dimos/models/vl/qwen.py	Remove `default_config`; (intended) align with annotation-based config.
dimos/models/vl/openai.py	Remove `default_config`; (intended) align with annotation-based config.
dimos/models/vl/moondream.py	Remove `default_config`; (intended) align with annotation-based config.
dimos/models/vl/moondream_hosted.py	Remove `default_config`; (intended) align with annotation-based config.
dimos/models/vl/base.py	Remove generic config TypeVar; make `VlModel` `Configurable`-based.
dimos/models/embedding/treid.py	Remove `default_config`; retain `config:` annotation.
dimos/models/embedding/mobileclip.py	Remove `default_config`; retain `config:` annotation.
dimos/models/embedding/clip.py	Remove `default_config`; retain `config:` annotation.
dimos/models/base.py	Remove generic `Configurable[...]` usage; rely on `config:` annotation.
dimos/memory2/vectorstore/sqlite.py	Remove `default_config`; retain `config:` annotation.
dimos/memory2/vectorstore/memory.py	Replace `default_config` with `config:` annotation.
dimos/memory2/vectorstore/base.py	Remove generic `Configurable[...]`; add `config:` annotation.
dimos/memory2/store/sqlite.py	Remove `default_config`; retain `config:` annotation.
dimos/memory2/store/base.py	Remove generic `Configurable[...]`; add `config:` annotation.
dimos/memory2/registry.py	Remove generic `Configurable[...]`; add `config:` annotation.
dimos/memory2/observationstore/sqlite.py	Remove `default_config`; retain `config:` annotation.
dimos/memory2/observationstore/memory.py	Remove `default_config`; retain `config:` annotation.
dimos/memory2/observationstore/base.py	Remove generic `Configurable[...]`; add `config:` annotation.
dimos/memory2/notifier/subject.py	Replace `default_config` with `config:` annotation.
dimos/memory2/notifier/base.py	Remove generic `Configurable[...]`; add `config:` annotation.
dimos/memory2/module.py	Add StreamModule/Recorder helpers for memory2 pipelines/recording.
dimos/memory2/blobstore/sqlite.py	Remove `default_config`; retain `config:` annotation.
dimos/memory2/blobstore/file.py	Remove `default_config`; retain `config:` annotation.
dimos/memory2/blobstore/base.py	Remove generic `Configurable[...]`; add `config:` annotation.
dimos/memory/embedding.py	Remove `Module[Config]`; add `config:` annotation.
dimos/mapping/voxels.py	Remove `Module[Config]`; add `config:` annotation.
dimos/mapping/costmapper.py	Remove `Module[Config]`; add `config:` annotation.
dimos/manipulation/pick_and_place_module.py	Remove `default_config`; keep `config:` annotation.
dimos/manipulation/manipulation_module.py	Remove `Module[Config]`; add `config:` annotation.
dimos/manipulation/grasping/graspgen_module.py	Remove `Module[Config]`; add `config:` annotation.
dimos/manipulation/control/trajectory_controller/joint_trajectory_controller.py	Remove `Module[Config]`; add `config:` annotation.
dimos/manipulation/control/servo_control/cartesian_motion_controller.py	Remove `Module[Config]`; add `config:` annotation.
dimos/hardware/sensors/lidar/livox/module.py	Remove generic base usage; add `config:` annotation.
dimos/hardware/sensors/lidar/fastlio2/module.py	Remove generic base usage; add `config:` annotation.
dimos/hardware/sensors/fake_zed_module.py	Remove `Module[Config]`; add `config:` annotation.
dimos/hardware/sensors/camera/zed/camera.py	Remove `Module[Config]`; add `config:` annotation.
dimos/hardware/sensors/camera/webcam.py	Remove `default_config`; (intended) align with annotation-based config.
dimos/hardware/sensors/camera/spec.py	Remove `TypeVar` generic config plumbing; make `CameraHardware` `Configurable`.
dimos/hardware/sensors/camera/realsense/camera.py	Remove `Module[Config]`; add `config:` annotation.
dimos/hardware/sensors/camera/module.py	Remove `Module[Config]`; add `config:` annotation.
dimos/hardware/sensors/camera/gstreamer/gstreamer_camera.py	Remove `Module[Config]`; add `config:` annotation.
dimos/experimental/security_demo/security_module.py	Remove `Module[Config]`; add `config:` annotation.
dimos/core/tests/test_docker_deployment.py	Update test module to use `config:` annotation pattern.
dimos/core/test_native_module.py	Update native module test to use `config:` annotation pattern.
dimos/core/rpc_client.py	Simplify RPC client initialization defaults.
dimos/core/native_module.py	Remove generic `Module[_Config]`; switch to `config:` annotation.
dimos/core/module.py	Remove generic `ModuleBase[...]`; rely on annotation-based `Configurable`.
dimos/core/docker_module.py	Switch docker proxy config lookup to new config-type resolution approach.
dimos/core/coordination/module_coordinator.py	Remove `ModuleBase[Any]` typing in APIs.
dimos/core/coordination/blueprints.py	Remove `ModuleBase[Any]` typing in blueprint atoms/remappings.
dimos/control/coordinator.py	Remove `Module[Config]`; add `config:` annotation.
dimos/agents/vlm_agent.py	Remove `Module[Config]`; add `config:` annotation.
dimos/agents/skills/person_follow.py	Remove `Module[Config]`; add `config:` annotation.
dimos/agents/mcp/mcp_client.py	Remove `Module[Config]`; add `config:` annotation.
dimos/agents/agent_test_runner.py	Remove `Module[Config]`; add `config:` annotation.
dimos/agents_deprecated/modules/base_agent.py	Remove generic `Module[Config]`; add `config:` annotation.

Comments suppressed due to low confidence (4)

dimos/perception/detection/reid/module.py:46

ReidModule defines a module-specific Config model, but the module class itself no longer declares config: Config. With the new config resolution, this means ReidModule will instantiate the base ModuleConfig instead and the Config class becomes unused/misleading. Either add config: Config to ReidModule (and route idsystem through config) or remove the unused Config model.
dimos/robot/unitree/go2/connection.py:213
GO2Connection now declares config: _Config where _Config is a TypeVar. Configurable.__init__ will treat this as the config type and attempt config_type(**kwargs), which will fail because a TypeVar isn't instantiable. Since this class is instantiated directly (e.g., dimos.deploy(GO2Connection, ip=ip)), the config annotation needs to be a concrete BaseConfig subclass (likely ConnectionConfig), and any remaining generic-type plumbing should be removed or replaced with a runtime resolver.
dimos/robot/unitree/g1/sim.py:58
G1ConnectionBase is no longer generic, but G1SimConnection still inherits from G1ConnectionBase[G1SimConfig]. This will raise at import time since G1ConnectionBase can't be subscripted. Update the base class to G1ConnectionBase and add config: G1SimConfig on this subclass so config instantiation uses the simulation config.
dimos/core/native_module.py:124
The NativeModule docstring still says subclasses should set default_config, but this PR removes default_config in favor of config: ... annotations. Update the docstring to reflect the new config resolution mechanism so users don’t follow an invalid pattern.

    """Module that wraps a native executable as a managed subprocess.

    Subclass this, declare In/Out ports, and set ``default_config`` to a
    :class:`NativeModuleConfig` subclass pointing at the executable.

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dimos/core/docker_module.py

dimos/protocol/service/spec.py

dimos/models/vl/qwen.py

dimos/models/vl/openai.py

dimos/models/vl/moondream.py

dimos/hardware/sensors/lidar/livox/module.py

dimos/control/coordinator.py

dimos/hardware/sensors/camera/module.py

dimos/models/vl/base.py

dimos/hardware/sensors/camera/spec.py

…rics Replace Generic-based config resolution with simple type annotation lookup. Classes now declare `config: MyConfig` instead of `Parent[MyConfig]`. Configurable.__init__ uses get_type_hints to find the config type. - Remove default_config from all classes - Remove Generic[ConfigT] from Configurable, Service, Module hierarchy - Simplify RPCClient and PubSubRPCMixin to use defaults directly

- Fix Bridge to be Generic for TypeVar binding - Fix MappingProxyType default for rpc_timeouts - Fix remaining TypeVar config annotations (GO2Connection, QuestTeleopModule)

The config annotation refactor made the AST scanner detect more Module subclasses (plain `Module` vs `Module[Config]` subscript). These classes were always missing start/stop but weren't caught before.

paul-nechifor · 2026-04-06T22:56:02Z

dimos/core/module.py

-    default_config: type[ModuleConfigT] = ModuleConfig  # type: ignore[assignment]
-
+class ModuleBase(Configurable, Resource):
+    config: ModuleConfig


There are several places which still use default_config:

dimos/core/native_module.py:30: default_config = MyConfig dimos/core/native_module.py:122: Subclass this, declare In/Out ports, and set ``default_config`` to a dimos/protocol/service/test_lcmservice.py:129: def test_init_with_default_config(self) -> None: dimos/simulation/unity/test_unity_sim.py:135: def test_default_config(self): examples/docker_hello_world/hello_docker.py:65: default_config = HelloDockerConfig examples/simplerobot/simplerobot.py:64: default_config = SimpleRobotConfig docs/usage/native_modules.md:33: default_config = MyLidarConfig docs/usage/native_modules.md:243: default_config = Mid360Config docs/usage/transforms.md:182: default_config = MyModuleConfig docs/usage/blueprints.md:19: default_config = ConnectionConfig docs/usage/blueprints.md:47: default_config = Config docs/usage/configuration.md:17: default_config = Config docs/usage/configuration.md:59: default_config = Config

paul-nechifor · 2026-04-06T22:59:45Z

dimos/perception/detection/reid/module.py



 class ReidModule(Module):
-    default_config = Config


Don't you need to add a config here too?

paul-nechifor · 2026-04-06T23:03:42Z

dimos/protocol/tf/tf.py

-    default_config = LCMPubsubConfig
+class LCMTF(PubSubTF):
+    config: LCMPubsubConfig
+    pass


Suggested change

pass

config refactor

450cc27

Copilot AI review requested due to automatic review settings April 5, 2026 07:32

Copilot started reviewing on behalf of leshy April 5, 2026 07:33 View session

leshy force-pushed the refactor/config branch 2 times, most recently from 2cfbda9 to 9c8caef Compare April 5, 2026 07:39

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leshy force-pushed the refactor/config branch from 9c8caef to d44ea5a Compare April 5, 2026 07:49

dimensionalOS deleted a comment from greptile-apps bot Apr 5, 2026

leshy force-pushed the refactor/config branch from d44ea5a to 976311a Compare April 5, 2026 07:52

leshy force-pushed the refactor/config branch from 976311a to 061c01c Compare April 5, 2026 07:56

leshy added 4 commits April 5, 2026 16:10

fix: mypy errors from config refactor

b283ce0

- Fix Bridge to be Generic for TypeVar binding - Fix MappingProxyType default for rpc_timeouts - Fix remaining TypeVar config annotations (GO2Connection, QuestTeleopModule)

fix: add missing start/stop to modules now detected by test scanner

3138446

The config annotation refactor made the AST scanner detect more Module subclasses (plain `Module` vs `Module[Config]` subscript). These classes were always missing start/stop but weren't caught before.

refactor: remove unused Bridge and BridgeConfig classes

26694d5

refactor: remove unused pubsub bridge module

e5943f4

paul-nechifor reviewed Apr 6, 2026

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refactor(config): resolve config type from annotation#1751

refactor(config): resolve config type from annotation#1751
leshy wants to merge 6 commits intodevfrom
refactor/config

leshy commented Apr 5, 2026 •

edited

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leshy commented Apr 5, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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leshy commented Apr 5, 2026 •

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